Title :
A distributed cooperative control method for plane formation
Author :
Zi-Liang Zhang ; Xin-Yi Yu ; Lin-Lin Ou
Author_Institution :
Dept. of Autom., Zhejiang Univ. of Technol., Hangzhou, China
Abstract :
The similar formation is a new control method of planar formation. A distributed controller base on the similar formations is designed in this paper. Firstly, the formation control problem of multi-agent system can be transformed into the stability problem of the multi-agent system. Then the multi-agent system is decomposed into several subsystems, and the stability of each subsystem is analyzed. After that, the proportional controllers are designed to ensure the stability of the first order integral system and the stability of the first order integral system with time-delay respectively. The control parameter to make the entire system stable can be obtained from the intersection of the stability range of each subsystem. Finally, the simulation examples reveal the effectiveness of the designed controller.
Keywords :
control system analysis; delays; distributed control; multi-agent systems; position control; proportional control; stability; control parameter; distributed controller base; distributed cooperative control method; first order integral system; multiagent system; planar formation; proportional controllers; stability problem; time-delay; complex Laplace matrix; distributed controller; multi-agent system;
Conference_Titel :
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location :
Qingdao
Print_ISBN :
978-1-4799-7016-2
DOI :
10.1109/CCDC.2015.7162269
